Packaging system

ABSTRACT

The present invention provides a packing system for collecting together multiple articles and delivering them to a receptacle ( 50 ) such as a box and relates particularly to such a mechanism which can do so in a gentle manner, thereby reducing damage to said produce. The present invention may be used in the food packing industry where such damage is extremely undesirable but also lends itself to use in the packing of other products. In particular, the present invention provides a packing system ( 10 ) comprising a product accumulation station ( 12 ) and a filling point ( 14 ) having a lowering system ( 16 ), wherein said lowering system comprises a hinged lowering plate ( 16   a ) pivotally connected at a hinge ( 18 ) to said filling point ( 14 ) and being connected to an actuator ( 20 ) for actuation of said plate ( 16 ) between a first product receiving position (A) and a second product delivering position (B).

The present invention relates to a packing system and relatesparticularly but not exclusively to a system for allowing food produceto be collected together and then delivered to a container forsubsequent distribution.

Packing systems are well known and many forms thereof are used in manyindustries and they are particularly well known for use in fooddistribution, parts distribution, consumable goods distribution to namebut three areas of use. The reader will appreciate from the belowdescription that the present invention is of particular interest to thefood packing and distribution industry because of the very gentle mannerin which it handles what can be very delicate food products but theinvention may be applied across the packing requirements of manyindustries.

In general, packing systems are used to collect together multipleindividual articles, such as items of fruit, or groups of pre-packagedvegetables such as to form a larger group that can then be delivered toa packing container such as a box or tray which is then used to allowfor easy handling and protection of multiple articles that may well berelatively easily damaged if handled individually. At present there is aproblem associated with the final stage of the packing process in whichthe individual articles or groups of articles are placed into theirfinal transportation container as this must either be done manuallywhich is expensive or by some form of forced pusher system where thearticles are physically dropped into their containers which can be verydamaging of delicate food articles in particular. Alternative systemsinclude the use of a robotic pick and place system which, whilst beingfaster can be expensive and do not necessarily lend themselves to use onall articles and generally requires the article being handled to includea smooth surface upon which the vacuum system associated therewith canwork.

The present invention is aimed at providing a new approach to packingsystems in which the articles to be packaged are first collectedtogether and then gently lowered into the associated container.Accordingly, the present invention provides; a packing system comprisinga product accumulation station and a filling point having a loweringsystem, wherein said lowering system comprises a hinged lowering platepivotally connected at a hinge to said filling point and being connectedto an actuator for actuation of said plate between a first productreceiving position and a second product delivering position and furthercomprises a guide plate opposite an end of said lowering plate andextending downwardly and into a container to be filled.

In one arrangement said guide plate comprises a first introductionportion at a top thereof and being positioned to produce a reducing gapG¹ as the lowering plate opens and a second portion at a bottom thereofand being positioned for producing an increasing gap G² as the loweringplate is lowered to a fully lowered position.

In an alternative arrangement said guide plate comprises a secondportion at a bottom thereof and being positioned for producing anincreasing gap G² as the lowering plate is lowered to a fully loweredposition.

Advantageously, said second portion is angled at an angle β relative toa vertical plane.

Advantageously, said first portion is angled at an angle θ relative to avertical plane.

Preferably, the system includes a longitudinal conveying axis X and saidhinge includes a longitudinal pivot axis extending substantiallyparallel to said conveying axis X.

Further, said lowering system may comprises a pair of lowering plateseach of which includes a longitudinal pivot axis extending substantiallyparallel to said conveying axis X.

The system may also include a pair of actuators for moving said firstand second lowering plates between said first and second positions.

The lowering plates may each be hinged along a central portion of saidfilling point and have otherwise free ends outward thereof or may behinged at an outer portion and have otherwise free ends inwardlythereof.

Preferably, the surface of said plate or plates extend(s) substantiallyhorizontally when said plate) is in said first position such as toreceive product from said accumulation station and extends generallydownwardly relative to said horizontal plane when in said deliveringposition.

Advantageously, said accumulation station includes a stopper plate and apusher system for advancing accumulated product from said accumulationstation to said filling point.

Preferably, said pusher system includes an actuator (38) for causingsaid pusher (34) to advance towards said filling point (14) in a firstplane and return thereform in a second plane above said first plane.

Preferably, said pusher system includes a plurality of mobile fingerscollectively forming a wall for engagement with product to be deliveredand further including an actuation mechanism for advancing said fingersfrom a first retracted position to a second advanced position and anycollected product towards said filling point.

Advantageously, the accumulation station further includes a plurality offixed fingers positioned between said mobile fingers when said mobilefingers are in said retracted position and which in combination withsaid mobile fingers collectively form a sidewall.

Conveniently, said accumulation station includes a separate drivenconveyor belt.

In one arrangement, the system further includes a product deliverymechanism for delivering product to said accumulation station. Whenprovided, such a delivery mechanism may comprise a conveyor system of aproduction machine.

In one arrangement the system further includes a receptacle conveyingmechanism for delivering and removing a receptacle to said filling pointas and when required. When provided, said conveying mechanism includes alateral conveyor and a vertical conveyor and wherein said mechanism ison an underside of said filling point and wherein said filling point isconfigured to lower product into a receptacle when so required.Advantageously, said lateral conveyer may comprise a conveyor belt anddrive system. Advantageously, said vertical conveyer comprises adisplaceable support platform and an actuation mechanism for displacingsaid receptacle substantially vertically between a first lower positionin which it is engaged with said lateral conveyor and distal saidfilling point and a second higher position in which it is proximal saidfilling point and distal said lateral conveyer. The vertical conveyormay further include a connection rod and a rotatable crank mounted forrotation on an actuator shaft of an actuator and being operable to liftand lower said Platform upon rotation of said actuator.

Advantageously, the packing system further includes a control systemoperably connected to one or more actuators to operate said system. Thesystem may further including sensors for determining the presence orotherwise of one or more of: a receptacle and on or more product.

The present invention will now be more particularly described by way ofexample with reference to the accompanying drawings, in which:

FIG. 1 is a general view of a packing system in accordance with aspectsof the present invention;

FIG. 2 is a cross-sectional view taken in the direction of arrows G-G inFIG. 1 showing the lowering plates in a horizontal position;

FIG. 3 is a cross-sectional view taken in the direction of arrows G-G ofFIG. 1 showing the lowering plates in a downward position;

FIG. 4 is a perspective view of a portion of FIG. 1 and shows somehidden detail associated with a system for raising and lowering acontainer up towards and down from a position in which it is to befilled by the articles in question;

FIG. 5 is a more detailed perspective view of the plates and actuationmechanism shown in FIG. 1;

FIGS. 6 to 9 illustrate the various stages in the loading of productinto a tray or container; and

FIG. 10 is a schematic representation of an alternative form of thepresent invention.

Referring now to the drawings in general but particularly to FIG. 1, apacking system 10 comprises a product accumulation station 12 and afilling point 14 having a lowering system 16 associated therewith. Thelowering system comprises a hinged lowering plate 16 a pivotallyconnected at a hinge 18 to said filling point 14 and being connected toan actuator 20 for actuation of said plate 16 between a first productreceiving position A and a second product delivering position B. Asshown, the arrangement includes a pair of lowering plates 16 a, 16 b butit will be appreciated that they may be provided and used eitherindividually or in multiples thereof. The system includes a longitudinalconveying axis X and the one or more plates 16 a, 16 b, include a hingeor other such arrangement 18 which extends generally along said axis Xor substantially parallel and in close proximity thereto such as toprovide a pivot axis 22. The pivot axis being centrally located betweenthe extremities of a void 200 uncovered by the opening of the plates 16.One or more actuators 20 a, 20 b may be provided to cause the one ormore plates 16 a, 16 b to be moved between said first and secondpositions A, B respectively and each may be directly or indirectlyconnected to an associated plate 16 by actuation rods 24. The actuatorsmay be electro-activated systems, pneumatic actuated systems or gearedactuation systems to name but three possible options but all suchsystems must be able to reproduce a periodic and controlled moving ofplates 16 between positions A and B and should preferably be able tofacilitate that movement in a smooth and gentle manner if the system isto be used on more delicate or easily damaged articles. Whilst theplates themselves can be arranged in a number of alternative positions,it is preferable that when two such plates 16 are provided that they behinged along a central portion 26 of said filling point 14 such as toprovide otherwise free ends 28, 30 of said plates outwardly thereof O onouter portions of the filling point 14, for reasons that will becomeapparent later herein. As shown, the surfaces 16 s of the plates 16extend generally horizontally H when said plate or plates are in saidfirst position A and generally downwardly D relative to the horizontalplane H when in said delivering position B.

In addition to the above, the accumulation station 12 includes anoptional stopper plate or portion 32 and a pusher system 34 foradvancing accumulated articles or produce towards the filling point 14and plates 16 as and when desired. Whilst it will be appreciated that anumber of different designs of accumulation system may be employed, ithas been found that an arrangement of inter-leaved fingers, such asshown generally at 36 and 40 may be used to great advantage. In moredetail, the fingers include mobile fingers 36 which, collectively, forma wall for engagement with articles or produce 37 to be packaged andfurther includes an actuation mechanism 38 shown as, for example,pneumatic cylinders and rods in FIGS. 1 to 3 which move the fingers 36between a first retracted position RP to a second advanced position APand then back again as and when desired. The movement between thepositions being as marked by arrows R which indicate an advancing of thefingers in a lower plane such as to push any produce towards the doors16 or filling position and then a retraction step including the verticaldisplacement of the fingers over into a second plane above the firstplane and clear of any produce before the retraction is commenced byretracting the fingers over the produce and then lowering them back intothe retracted position RP as shown in FIG. 1. Other forms of actuationmechanisms such as electro-mechanical systems, stepper motors and thelike may used as alternatives so long as they are able to perform thefunction described in detail later herein. Interposed between saidmobile fingers 36 are a plurality of fixed 40 which, in combination withsaid mobile fingers when in said retracted position RP collectively actto define or form a sidewall 42, the function of which will be describedlater herein. Associated with the accumulation station is one or moreseparate driven conveyors in the form of conveyor belt(s) 44 andassociated drive mechanism 45 and an optional further product deliverymechanism 46 (not shown) which may be a conveyor belt, chute or othersuch device and may comprise a portion of an upstream conveying systemnot part of the present arrangement but provided for supplying produceto said accumulation system itself.

Also shown in FIGS. 2, 3 and 6 to 9 is an additional guide plate 17.This guide plate 17 may be provided on one or other or both sides of thelowering system 16. When provided, it preferably comprises two portions.The first of which comprises an introduction portion 17 a towards a topthereof 17 b and being angled and positioned relative to the end 16 c,16 d of a plate 16 such as to produce a reducing gap G¹ as the platemoves from a closed to an open position. Such a gap G¹ being sufficientto provide clearance for the plate as it moves but insufficient to allowa product being lowered to pass through the gap G¹. In an alternativearrangement the gap G¹ may be kept generally constant by shaping theintroduction portion 17 a in a curved manner having a profile ofcurvature matching or closely corresponding to a the movement arc of theend(s) 16 c, 16 d. The second portion 17 c is positioned at the bottom17 d of the guide plate 17 and extends generally downwardly from thefirst portion and is positioned and angled such as to provide agenerally increasing gap G² between the end(s) 16 c, 16 d. Thisgenerally increasing gap G² is employed to allow any product beinglowered to pass gently between the guide plate 17 and the end(s) 16 c,16 d such that it is laid down gently into a container or receptacle 50provided thereunder. The guide plate(s) 17 are each also positioned suchas to extend into the confines of a receptacle 50 placed thereunder suchas to provide a sidewall against which any product being lowered toslide against which is not the wall of the receptacle 50. This has theadvantage of allowing for the guide plate(s) 17 being able to define aspecific edge and position thereof which is independent of anyreceptacle and the gentle lowering of product is, therefore, independentof the receptacle and is consistent. This arrangement means that theshape and size and indeed position of the receptacle can vary or bevaried without adversely affecting the gentle deposition of product intothe receptacle. The arrangement of the present invention can, therefore,be used on a number of different shaped and positioned receptacles.

The skilled reader will appreciate that for some arrangements it will bepossible to dispense with the introduction portion 17 a and merely relyon the second portion 17 c as the requirement is to define a separatesidewall against which products can slide as they are lowered into areceptacle rather than defining a reducing and then an increasing gapG¹, G². The skilled reader will also appreciate that the plate(s) may behinged at the outer edge 200 of any aperture 202 through which theproduce may be lowered rather than a central position, as shown inFIG. 1. Such an arrangement is shown diagrammatically in FIG. 10 whichalso includes an optional displaceable guide portion 217 which may bepositioned centrally relative to the aperture 202 and extendinggenerally along axis X such as to provide a guide against which productcan be lowered (as shown in the dotted portion of the figure) in thesliding and gentle deposition manner described above with reference toFIGS. 6 to 9. The actuator 219 is provided for moving the guide portion217 between its retracted 217 a and its lowered position 217 b. It willbe appreciated that, in the retracted position 217 a, the guide alsoacts as a divide which will prevent product pushed from one side of thesystem from being pushed too far over into the opposite side. This willhelp with even distribution of product into the receptacle 50 and helpprevent jamming. It will also be appreciated that the arrangements ofFIGS. 1 to 9 may also be provided with a retractable or a fixed divideshown at 220 and that such a divide would perform the same function insuch an arrangement.

FIG. 11 provides a little more detail with regards to the guide plate 17shown in FIGS. 1 to 9 and from which it will be appreciated that theoptional first portion 17 a is angled backwardly and outwardly relativeto the lowering system 16 at an angle θ from a vertical plane V. It willalso be appreciated that the lower portion 17 b is angled inwardly at anangle β relative to the vertical plane V. The magnitude of the angles θand β may be selected such as to ensure that a gap is maintained betweenthe lowering system 16 but that gap is preferably selected such as toallow for the maintenance of a minimum gap during the initial movementof the lowering system 16 and an increasing gap during at least thefinal movement of the lowering system 16. The increasing gap may befacilitated by having angle β set to zero but there is advantage inhaving a positive angle β as this allows for the generation of a gapwhich is not so large as to cause or facilitate premature dropping ofany product being lowered. Angle θ may be set to zero so long as thereis sufficient clearance between the lowering system 16 and the firstportion 17 a.

From the above, it will be appreciated that product to be placed withina receptacle 50 is first positioned on the top of the lowering system 16before being lowered. The act of lowering causes the product to slidetowards and then engage with the guide plate(s) 17 and against which itinteracts as the lowering system moves downwardly. During this downwardmovement the product slides against both the guide plate 17 and thelowering mechanism 16 and is, therefore, relatively gently moved intothe receptacle. The action is more similar to being moved by hand thanbeing dropped, as is well known in the art. The final movement of thelowering system simply causes the lowering system to be removed fromunderneath of the product, a portion of which will already be in contactwith the base of the receptacle or produce already loaded into saidreceptacle.

FIG. 9 illustrates the indexing downwardly of the receptacle 50 in thedirection of arrow D and further illustrates three layers of product,two of which are shown in dotted lines. The first layer is depositedbefore the receptacle 50 is indexed downwardly such that the secondlayer is gently laid down on top of the first layer. This indexing stepis repeated as many times as required in order to deposit the requirednumber of layers.

A receptacle conveying mechanism, shown generally at 48 below thefilling point 14 is provided for delivering and removing one or morereceptacles 50 to said filling point 14, as and when required. Whilst anumber of such conveying mechanisms may be used, a particularlyadvantageous arrangement comprises a lateral conveyor 52 and a verticalconveyor 54 provided on and underside US of said filling station 14wherein said filling point is configured to lower produce into areceptacle 50 as and when one is suitably positioned. In more detail,the lateral conveyer 52 may compromise a conveyor belt 56 and a drivesystem 58. The vertical conveyor 54 may comprise a displaceable supportplatform 60 and an actuation mechanism for displacing said receptacle 50substantially vertically between a first lower position L in which it isengaged with said lateral conveyor 52 and distal said filling point 14and a second, higher, position H in which it is proximal said fillingpoint 14 and distal said conveyor 52. In the particular example shown,the vertical conveyor 54 comprises a connection rod 62 and a rotatablecrank 64 mounted for rotation on an actuator shaft 66 of an actuator 68and being operable to lift and lower said platform 60.

In addition to the above, the present system includes a control systemshown schematically at 70 for causing operation of one or more of theactuateable components in accordance with a desired routine such as tocause produce to be packaged as required and a plurality of sensors (notshown) positioned to detect the presence or absence of produce atappropriate portions of the system itself such as to allow the controlsystem to initiate control of the system 10 and the packing process.

Operation of the above-described system will now be described by way ofexample only with reference to the drawings attached hereto.

Assuming that the present system 10 is provided in conjunction with theend of an associated packing line (not shown) it is highly likely thatthe packaged articles provided thereby will be supplies at irregularintervals and must then be collected together before being packaged inbulk. The accumulation station 12 is used to accumulate multiplearticles supplied thereto as the conveyor 56 acts to receive saidproduce/articles individually and the stopper plate 32 acts to preventthem passing past the belt itself. For this purpose, it is advantageousif the upper surface of the conveyor comprises a smooth and slipperysurface such that the conveyor may continue to rotate whilst anycollected produce/articles remain thereon whilst being collected. Once adesired number of articles have been supplied to the accumulationstation 12 a sensor (not shown) detects the presence of sufficientarticles stationary within the station 12 then actuator mechanism 38 isactivated such as to deploy the pusher system 34 and advance the mobilefingers 36 such that they engage with and then slide the articles in thedirection of arrows R and towards and into the lowering system portion16 such that the articles in question are on top of the lowering plateor plates 16. Once the articles are in this position the fingers 36 maybe retracted back to their previous position and made ready forsubsequent use. Once the articles are placed above plates 16 they areready to be lowered into a packing receptacle 50 as and when desired.Before the articles can be lowered one must ensure that a suitablecontainer has been placed under the plates 16 and this is achieved byactuating the horizontal conveyer 52 such as to ensure a receptacle 50is in position and then raising said receptacle by activating thevertical conveyor 54 such as to place a receptacle immediately belowplates 16. Once the receptacle is sensed as being in position theplate(s) 16 may be opened by activating actuators 20 and at this pointany articles or produce on the plates is then gently lowered into thereceptacle rather than dropped therein such as to reduce the level ofimpact that the articles experience. This reduction in impact isparticularly important with fragile or easily damaged articles such asfruit, vegetables, glass articles and the like. Once the articles areconveniently placed within the receptacle 50 it is then lowered backdown onto the conveyers 52 for subsequent passage in the direction ofarrows Z to be distributed to the wholesaler or customer as a packagedarticle.

The above process may be repeated as and when necessary such as toensure the continuous supply of packaged produce/articles to bedispatched from the packing company. It will be appreciated thatmodifications and amendments to the above-described system and methodmay be made without materially departing from the scope of the presentinvention. In particular, it will be appreciated that one or more plates16 may be provided. Further, it will be appreciated that the one or moreplates 16 may be hinged at a point on the outer side of the fillingpoint rather than an inner portion thereof such that the otherwise freeends 28, 30 are on an inner portion of the filling point 14 or simplyconfronting each other.

Still further it will be appreciated that the system can be used to packproduct into trays and boxes or any other holding media or receptacleand the above description should be interpreted accordingly. Inaddition, it will be appreciated that the media to be filled may beraised and lowered by a programmable device that can stop at any givenposition and that the apparatus includes a top mechanism for achievingthis desire. The packs may be lowered into the tray/box, the tray/boxmay then lowered and a second layer is placed on top. This may berepeated for as many layers as required. Finally, it will also beappreciated that the trap doors can also be pivoted from the outsideedges should that prove desirable, as discussed above.

1. A packing system (10) comprising a product accumulation station (12)and a filling point (14) having a lowering system (16), wherein saidlowering system comprises a hinged lowering plate (16 a) pivotallyconnected at a hinge (18) to said filling point (14) and being connectedto an actuator (20) for actuation of said plate (16) between a firstproduct receiving position (A) and a second product delivering position(B) and further comprises a guide plate (17) opposite an end of saidlowering plate (16 a) and extending downwardly and into a container (50)to be filled.
 2. A packaging system (10) as claimed in claim 1 whereinsaid guide plate (17) comprises a first introduction portion (17 a) at atop (17 b) thereof and being positioned to produce a reducing gap G¹ asthe lowering plate (16 a) opens and a second portion (17 c) at a bottom(17 d) thereof and being positioned for producing an increasing gap G²as the lowering plate (16 a) is lowered to a fully lowered position. 3.A packaging system (10) as claimed in claim 1 wherein said guide plate(17) comprises a second portion (17 c) at a bottom (17 d) thereof andbeing positioned for producing an increasing gap G² as the loweringplate (16 a) is lowered to a fully lowered position.
 4. A packagingsystem (10) as claimed in claim 2 or claim 3 wherein said second portion(17 c) is angled at an angle β relative to a vertical plane.
 5. Apackaging system as claimed in any one of claims 2 to 4 wherein saidfirst portion is angled at an angle θ relative to a vertical plane.
 6. Apacking system (10) as claimed in claim 1 wherein said system (10)includes a longitudinal conveying axis X and said hinge (18) includes alongitudinal pivot axis (22) extending substantially parallel to saidconveying axis X.
 7. A packing system (10) as claimed in claim 1 whereinsaid system (10) includes a longitudinal conveying axis X and saidlowering system (16) comprises a pair of lowering plates (16 a, 16 b)each of which includes a longitudinal pivot axis (22) extendingsubstantially parallel to said conveying axis X.
 8. A packing system(10) as claimed in claim 3 and including a pair of actuators ((20 a, 20b) for moving said first and second lowering plates (16 a, 16 b) betweensaid first and second positions (A,B).
 9. A packing system as claimed inclaim 3 or claim 4 wherein said lowering plates (16 a, 16 b) are eachhinged along a central portion (26) of said filling point (14) and haveotherwise free ends (28, 30) outward (0) thereof.
 10. A packing system(10) as claimed in any one of claims 1 to 5 wherein a surface (26) ofsaid plate (16) extends substantially horizontally (H) when said plate(16) is in said first position (A) such as to receive product from saidaccumulation station (12) and extends generally downwardly (D) relativeto said horizontal plane (H) when in said delivering position (B).
 11. Apacking system (10) as claimed in any one of claims 1 to 4 wherein saidaccumulation station (12) includes a stopper plate (32) and a pushersystem (34) for advancing accumulated product from said accumulationstation (12) to said filling point (14).
 12. A packaging system (10) asclaimed in claim 11 wherein said pusher system includes an actuator (38)for causing said pusher (34) to advance towards said filling point (14)in a first plane and return thereform in a second plane above said firstplane.
 13. A packing system (10) as claimed in claim 7 wherein saidpusher system (34) includes a plurality of mobile fingers (36)collectively forming a wall for engagement with product to be deliveredand further including an actuation mechanism (38) for advancing saidfingers from a first retracted position (RP) to a second advancedposition (AP) and any collected product towards said filling point (14).14. A packing system (10) as claimed in claim 8 wherein the accumulationstation (12) further includes a plurality of fixed fingers (40)positioned between said mobile fingers (36) when said mobile fingers arein said retracted position and which in combination with said mobilefingers (36) collectively form a sidewall (42).
 15. A packing system(10) as claimed in any one of claims 1 to 9 wherein said accumulationstation (12) includes a separate driven conveyor belt (44).
 16. Apacking system (10) as claimed in any one of claims 1 to 10 and furtherincluding a product delivery mechanism (46) for delivering product tosaid accumulation station (12).
 17. A packing system (10) as claimed inclaim 11 wherein said delivery mechanism (46) comprises a conveyorsystem of a production machine.
 18. A packing system (10) as claimed inany one of claims 1 to 12 and further including a receptacle conveyingmechanism (48) for delivering and removing a receptacle (50) to saidfilling point (14) as and when required.
 19. A packing system (10) asclaimed in claim 13 wherein said conveying mechanism (48) includes alateral conveyor (52) and a vertical conveyor (54) and wherein saidmechanism (48) is on an underside (US) of said filling point (14) andwherein said filling point is configured to lower product into areceptacle (50) when so required.
 20. A packing system (10) as claimedin claim 14 wherein said lateral conveyer (52) comprises a conveyor belt(56) and drive system (58).
 21. A packing system (10) as claimed inclaim 14 or claim 15 wherein said vertical conveyer (54) comprises adisplaceable support platform (60) and an actuation mechanism fordisplacing said receptacle (50) substantially vertically between a firstlower position (L) in which it is engaged with said lateral conveyor(52) and distal said filling point (24) and a second higher position (H)in which it is proximal said filling point (14) and distal said lateralconveyer (52).
 22. A packing system as claimed in claim 16 wherein saidvertical conveyor (54) further includes a connection rod (54) and arotatable crank (56) mounted for rotation on an actuator shaft (58) ofan actuator (60) and being operable to lift and lower said Platform (60)upon rotation of said actuator (60).
 23. A packing system as claimed inany one of claims 1 to 17 and further including a control system (62)operably connected to one or more actuators (WW,XX, YY, ZZ) to operatesaid system (10).
 24. A packing system as claimed in any one of claims 1to 18 and further including sensors for determining the presence orotherwise of one or more of: a receptacle and one or more product.